Magnetic wall-climbing robot

Abstract

The invention belongs to the technical field of magnetic climbing, and discloses a magnetic wall climbing robot. Comprising a first machine body, a second machine body and a deformation connecting piece, the first machine body and the second machine body are connected through the deformation connecting piece, and the deformation connecting piece deforms to adapt to uneven road sections after movement of the machine bodies is blocked; the deformation connecting piece comprises a base, a flexible connecting plate and an annular connecting piece. A plurality of bases are connected between the first machine body and the second machine body, and the bases are connected through flexible connecting plates. The multiple bases are connected with the annular connecting pieces, and the flexible connecting plates and the annular connecting pieces form flexible joints capable of being bent and twisted. And the driving adsorption wheel is connected with the lower part of the machine body to drive the machine body to move while adsorbing with the wall surface. The flexible connecting plates are arranged between the adjacent bases in an outer arc ring shape, and the multiple flexible connecting plates are arranged at the four corners of the bases. The problem that in the prior art, a wall-climbing robot is poor in adaptive capacity and difficult to adapt to complex working conditions, and consequently the robot difficultly passes through a road section and falls off is solved.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of magnetic force climbing, and particularly relates to a magnetic force wall climbing robot. BACKGROUND

[0002] With the rapid development of petrochemical, ship and bridge industries, the demand for periodic detection, welding and anticorrosion painting of large steel structures such as high-altitude storage tanks, ship outer walls and gantries is increasing. The traditional operation relies on manual high-altitude hanging baskets or scaffolding, which has the problems of high safety risk (according to statistics, high-altitude falling accounts for 23% of industrial accidents), low efficiency (single storage tank detection takes 3-5 days), and high cost (scaffolding cost accounts for more than 40% of the total maintenance cost).

[0003] The existing wall climbing robot is subject to the problems of insufficient magnetic adsorption stability, weak curved surface adaptability and poor maneuverability, and is difficult to cope with complex industrial site conditions. SUMMARY

[0004] In view of the problems in the prior art, the application provides a magnetic force wall climbing robot to solve the problem that the existing wall climbing robot has weak adaptability and is difficult to adapt to complex conditions, so that the robot is difficult to pass through a section and falls.

[0005] A magnetic force wall climbing robot comprises a first body and a second body connected through a deformation connecting piece, the deformation connecting piece is a flexible joint capable of bending and twisting, and driving adsorption wheels are arranged on the first body and the second body to enable the first body and the second body to be adsorbed to a wall surface and move the bodies at the same time.

[0006] Further, the deformation connecting piece is a multi-section structure along the connecting direction of the first body and the second body, each section comprises a base, a flexible connecting plate and a ring connecting piece, a plurality of bases are connected between the first body and the second body, the plurality of bases are connected through the flexible connecting plate, and the plurality of bases are connected with the ring connecting piece, and the flexible connecting plate and the ring connecting piece constitute a flexible joint capable of bending.

[0007] Further, the flexible connecting plate is arranged in an outer arc ring shape between adjacent bases, and a plurality of flexible connecting plates are arranged around the base.

[0008] Further, a traction rope is connected between the first body and the second body, and the traction rope passes through the flexible connecting plate and the base to prevent the first body and the second body from colliding after the flexible connecting plate is bent.

[0009] Further, the ring connecting piece is provided with four connecting rods in the circumferential direction, two adjacent connecting rods are a group and can rotate around the ring connecting piece, and the two groups of connecting rods extend in opposite directions and are fixedly connected with the bases on the corresponding sides.

[0010] Furthermore, the driving adsorption wheel has a groove extending radially to the circumference of the wheel. A magnetic block is slidably disposed in the groove. A spring is connected between the magnetic block and the bottom of the groove, so that the outer end face of the groove can protrude, be flush with, or be recessed into the circumference of the driving adsorption wheel. The spring is normally in a stretched state.

[0011] Furthermore, each driving adsorption wheel is provided with multiple grooves spaced apart along its circumference, so that at least one magnetic block is adsorbed onto the wall surface when the driving adsorption wheel rotates.

[0012] Furthermore, the driving adsorption wheel has multiple components to increase the adsorption effect.

[0013] Furthermore, both sides of the first and second bodies are connected to deflectors to separate the airflow and reduce wind resistance. The deflectors are wedge-shaped, and the bends of the deflectors correspond to the center point of the height of the first and second bodies.

[0014] As can be seen from the above technical solution, the beneficial technical effects of the present invention are as follows: 1. Its core lies in the dynamic adaptation of the first and second bodies to uneven road sections through deformable connectors; the deformable connectors consist of a base, a flexible connecting plate and an annular connector, forming a flexible joint that can bend to increase the adaptability of the first and second bodies; when the movement of the first and second bodies is obstructed, the flexible connecting plate undergoes controllable bending, while the annular connector deforms to provide support.

[0015] 2. By introducing a sliding magnetic block in conjunction with a spring, the adsorption force is adjustable. On a flat wall, the magnetic block fits tightly to form a strong magnetic adsorption. When turning or crossing obstacles, the magnetic block contracts to form an air gap, and the local magnetic circuit is cut off to reduce the adsorption force and motion resistance. This allows the first and second bodies to achieve higher mobility while ensuring overall adhesion stability, and forms a redundant guarantee mechanism for adsorption force, effectively balancing the contradiction between high adsorption force and low motion resistance.

[0016] 3. The airflow is separated by a wedge-shaped deflector. The upper airflow generates downward pressure to enhance the wall-hugging effect, while the lower airflow is dispersed by the turbulence blades to reduce wind resistance. The vents on the deflector prevent excessive downward pressure, enabling this design to achieve the dual effects of "aerodynamic enhancement" and "attitude adjustment". The spring force compresses the first and second bodies to descend as a whole, thereby automatically adjusting the attitude, lowering the center of gravity, and reducing the frontal area in complex wind fields, which significantly improves its resistance to wind interference and the stability of high-altitude operations. Attached Figure Description

[0017] To more clearly illustrate the specific embodiments of the invention, the accompanying drawings used in the description of the specific embodiments or prior art will be briefly introduced below. In all the drawings, the elements or parts are not necessarily drawn to scale.

[0018] Figure 1 Front view of an invention of a magnetic wall-climbing robot; Figure 2 Side view of a magnetic wall-climbing robot for invention; Figure 3 Partial views of components such as the annular connector in a magnetic wall-climbing robot for invention; Figure 4 Partial view of components such as magnetic blocks in a magnetic wall-climbing robot for invention.

[0019] Figure label: 1. First body; 11. Second body; 2. Deformable connector; 21. Base; 22. Flexible connecting plate; 23. Annular connector; 24. Traction rope; 25. Connecting rod; 3. Drive adsorption wheel; 4. Slide groove; 5. Spring; 6. Magnetic block; 7. Guide plate; 8. Ventilation hole; 9. Turbulent fan blade. Detailed Implementation

[0020] The embodiments of the invention will now be described in detail with reference to the accompanying drawings. These embodiments are merely illustrative and should not be construed as limiting the scope of protection of the invention.

[0021] Example 1: Example 1 Figures 1-4 As shown, this embodiment provides a magnetic wall-climbing robot, including: a first body 1 and a second body 11 and a deformable connector 2. The first body 1 and the second body 11 are set in two halves and connected by the deformable connector 2. When the movement of the first body 1 and the second body 11 is blocked, the deformable connector 2 deforms accordingly to adapt to uneven road sections and enhance the adaptability of the movement of the first body 1 and the second body 11. The deformable connector 2 includes a base 21, a flexible connecting plate 22, and an annular connector 23. Multiple bases 21 are connected between the two halves of the first body 1 and the second body 11. These bases 21 are connected by the flexible connecting plate 22, allowing the two halves of the first body 1 and the second body 11 to move together even when obstructed. The multiple bases 21 are connected to the annular connector 23, which deforms under force to adapt to different angles while providing support. The flexible connecting plate 22 and the annular connector 23 form a flexible joint that can be bent and twisted, allowing the body 1 to adapt to slopes of different angles.

[0022] The driving adsorption wheel 3 is connected to the lower part of the first body 1 and the second body 11 to drive the first body 1 and the second body 11 to move, and the driving adsorption wheel 3 can make the first body 1 and the second body 11 adsorb onto the wall surface.

[0023] The flexible connecting plate 22 is arranged in an outer arc shape between adjacent bases 21, so that the flexible connecting plate 22 deforms outward from the base 21 after being subjected to force, avoiding contact with the inside of the base 21 and increasing the deformation angle. There are multiple flexible connecting plates 22 and they are arranged at the four corners of the base 21, so that the base 21 can be evenly stressed and avoid excessive bending at one end of the flexible connecting plate 22. A traction rope 24 is connected between the two halves of the first body 1 and the second body 11. The traction rope 24 can be a steel wire rope. The traction rope 24 passes through the flexible connecting plate 22 and the base 21 to prevent the flexible connecting plate 22 from being excessively bent and to ensure overall rigidity and stability. The annular connector 23 has four connecting rods 25 spaced apart in the annular direction. Two pairs of connecting rods 25 form a group and can rotate around the annular connector 23. The two groups of connecting rods 25 extend in opposite directions and are fixedly connected to the base 21 on the corresponding side. The two bases 21 are respectively connected to both sides of the annular connector 23, so that the annular connector 23 is connected to the bases 21 on all sides. This allows the annular connector 23 to apply a supporting force to the base 21 when any side is subjected to force, thereby improving the overall stability.

[0024] The working principle of Embodiment 1 is explained in detail below: The driving adsorption wheel 3 moves the first body 1 and the second body 11 along the wall. When encountering uneven sections, the flexible connecting plate 22 on one side of the base 21 is bent by force, while the flexible connecting plate 22 on the other side of the base 21 extends, making the deformable connecting member 2 rigid and preventing excessive bending. The two first bodies 1 and the second body 11 are pulled together by the traction rope 24 to prevent excessive deformation. At this time, the annular connecting member 23 is deformed by the resistance force generated when the base 21 bends, so as to apply a supporting force to the base 21.

[0025] The beneficial effects of the above solution are as follows: its core lies in enabling the first body 1 and the second body 11 to dynamically adapt to uneven road sections through the deformable connector 2. The deformable connector 2 consists of a base 21, a flexible connecting plate 22, and an annular connector 23, forming a flexible joint that can be bent and twisted, thereby increasing the adaptability of the first body 1 and the second body 11. When the movement of the first body 1 and the second body 11 is obstructed, the flexible connecting plate 22 undergoes controllable bending, while the annular connector 23 deforms to provide support. Excessive deformation is limited by the traction rope 24, thus significantly enhancing the robot's terrain adaptability and obstacle-crossing flexibility on complex walls while maintaining overall rigidity and stability.

[0026] Example 2: In embodiment 2 of the present invention, as Figures 1-2As shown, the driving adsorption wheel 3 has grooves 4 at both ends, and the middle of the driving adsorption wheel 3 has adsorption force while the ends do not. A magnetic block 6 is slidably connected within the groove 4. The magnetic block 6 can be a neodymium magnet, and its arc shape facilitates contact with the wall surface during rolling. A spring 5 connects the groove 4 and the magnetic block 6. The spring 5 is normally in a stretched state, allowing the magnetic block 6 to extend out of the groove 4 and adhere to the wall surface. The driving adsorption wheel 3 has multiple grooves 4, so that multiple magnetic blocks 6 adhere to the wall surface when the driving adsorption wheel 3 rotates.

[0027] The working principle of Embodiment 2 is explained in detail below: During the normal movement of the first body 1 and the second body 11, when the magnetic block 6 is not in contact with the wall, a preset air gap is maintained between the magnetic block 6 and the wall. When the magnetic block 6 rotates to contact the wall, it retracts to a closed position under the action of the high-elasticity spring 5 and its own gravity, making the magnetic block 6 tightly adhere to the steel wall and completely closing the magnetic circuit, thereby generating a strong magnetic attraction force to ensure that the first body 1 and the second body 11 are stably attached to the wall. When the first body 1 and the second body 11 perform actions such as turning, overcoming obstacles, or crawling on right-angle walls, the spring 5 pushes the magnetic block 6 to move radially, creating a preset air gap between the magnetic block 6 and the wall, thereby cutting off the local magnetic circuit and significantly reducing the attraction force.

[0028] The beneficial effects of the above scheme are as follows: This mechanism effectively reduces drag and improves maneuverability when the first body 1 and the second body 11 turn or overcome obstacles. Simultaneously, other untriggered driving adsorption forces maintain strong adsorption, ensuring the stability of the first body 1 and the second body 11 in complex environments, achieving a redundancy guarantee effect. By introducing a sliding magnetic block 6 in conjunction with the spring 5, the adsorption force is adjustable; on flat walls, the magnetic block 6 fits tightly, forming strong magnetic adsorption; when turning or over obstacles, the magnetic block 6 contracts to form an air gap, and the local magnetic circuit is cut off to reduce adsorption force and motion resistance. This allows the first body 1 and the second body 11 to achieve higher maneuverability while ensuring overall adhesion stability, and forms a redundancy guarantee mechanism for adsorption force, effectively balancing the contradiction between high adsorption force and low motion resistance.

[0029] In embodiment 3 of the present invention, as Figures 1-2As shown, both sides of the first body 1 and the second body 11 are connected to guide plates 7 to separate the airflow and reduce wind resistance. The guide plates 7 are wedge-shaped to separate the airflow. The bend of the guide plate 7 corresponds to the center point of the height of the first body 1 and the second body 11. When the airflow blows to the upper part of the guide plate 7, it will apply downward pressure to the guide plate 7, causing the first body 1 and the second body 11 to adhere to the wall surface. The upper part of the guide plate 7 has multiple ventilation holes 8 to prevent excessive downward airflow. The lower part of the guide plate 7 is connected to multiple turbulence fan blades 9, which cause the airflow to blow downwards to the guide plate 7 to disperse the airflow and prevent the airflow from blowing directly onto the first body 1 and the second body 11 in one stream.

[0030] The working principle of Embodiment 2 is explained in detail below: When the airflow blows towards the first body 1 and the second body 11, the airflow is dispersed by the guide plate 7, causing the airflow to blow towards the upper and lower parts of the guide plate 7. When the airflow blows towards the upper part of the guide plate 7, the gas will cause the wedge-shaped guide plate 7 to have a downward pressure. Under the action of the airflow, the spring 5 will undergo compression deformation, causing the first body 1 and the second body 11 to automatically adjust their posture, lower the center of gravity and reduce the frontal area; when the airflow blows towards the lower part of the guide plate 7, the airflow will pass through the turbulence fan blade 9, allowing the airflow to pass through the guide plate 7 laterally to reduce wind resistance, while the turbulence fan blade 9 rotates under force, disturbing the wind and preventing the wind from blowing forcefully towards the first body 1 and the second body 11, causing the first body 1 and the second body 11 to tilt.

[0031] The beneficial effects of the above scheme are as follows: the airflow is separated by the wedge-shaped guide plate 7, the upper airflow generates downward pressure to enhance the wall adhesion effect, and the lower airflow is dispersed by the turbulence fan blades 9 to reduce wind resistance; the air vents 8 on the guide plate 7 avoid excessive downward pressure, so that this design achieves the dual effects of "aerodynamic enhancement" and "attitude adjustment", so that the spring 5 is pressed down to lower the first body 1 and the second body 11 as a whole, thereby enabling automatic attitude adjustment, lowering of center of gravity and reduction of frontal area in complex wind fields, thus significantly improving its wind interference resistance and high-altitude operation stability.

[0032] The above embodiments are only used to illustrate the technical solutions of the invention, and are not intended to limit it. Although the invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the invention, and they should all be covered within the scope of the claims and specification of the invention.

Claims

1. A magnetic wall-climbing robot, characterized in that, include: It includes: a first body (1) and a second body (11) connected by a deformable connector (2), wherein the deformable connector (2) is a flexible joint that can be bent and twisted; both the first body (1) and the second body are provided with driving adsorption wheels (3) so that the first body (1) and the second body (11) can be adsorbed on the wall surface and drive the body (1) to move.

2. The magnetic wall-climbing robot according to claim 1, characterized in that, The deformable connector (2) is a multi-section structure along the connection direction of the first body (1) and the second body (11). Each section includes: a base (21), a flexible connecting plate (22) and an annular connector (23). Multiple bases (21) are connected between the first body (1) and the second body (11). The multiple bases (21) are connected to each other through the flexible connecting plate (22). The multiple bases (21) are connected to each other through the annular connector (23). The flexible connecting plate (22) and the annular connector (23) form a bendable flexible joint.

3. A magnetic wall-climbing robot according to claim 2, characterized in that, The flexible connecting plate (22) is arranged in an outer arc shape between adjacent bases (21), and there are multiple flexible connecting plates (22) arranged around the base (21).

4. A magnetic wall-climbing robot according to claim 2, characterized in that, A traction rope (24) is connected between the first body (1) and the second body (11). The traction rope (24) passes through the flexible connecting plate (22) and the base (21) to prevent the first body (1) from colliding with the second body (11) after the flexible connecting plate (22) is bent.

5. A magnetic wall-climbing robot according to claim 2, characterized in that, The annular connector (23) has four connecting rods (25) spaced apart in the annular direction. Two connecting rods (25) in each direction form a group and can rotate around the annular connector (23). The two groups of connecting rods (25) extend in opposite directions and are fixedly connected to the base (21) on the corresponding side.

6. A magnetic wall-climbing robot according to claim 1, characterized in that, The drive adsorption wheel (3) has a groove (4) that extends radially to the circumference of the wheel. A magnetic block (6) is slidably disposed in the groove (4). A spring (5) is connected between the magnetic block (6) and the bottom of the groove (4) so ​​that the outer end face of the groove (4) can protrude, be flush with or retract into the circumference of the drive adsorption wheel (3). The spring (5) is in a stretched state under normal conditions.

7. A magnetic wall-climbing robot according to claim 6, characterized in that, Each drive adsorption wheel (3) has multiple grooves (4) spaced apart along its circumference, so that when the drive adsorption wheel (3) rotates, at least one magnetic block (6) is adsorbed onto the wall surface.

8. A magnetic wall-climbing robot according to claim 6, characterized in that, The drive adsorption wheel (3) has multiple wheels to increase the adsorption effect.

9. A magnetic wall-climbing robot according to claim 1, characterized in that, Both sides of the first body (1) and the second body (11) are connected to guide plates (7) to separate the airflow and reduce wind resistance. The guide plates (7) are wedge-shaped, and the bend of the guide plates (7) corresponds to the center point of the height of the first body (1) and the second body (11).

10. A magnetic wall-climbing robot according to claim 9, characterized in that, The upper part of the guide plate (7) is provided with multiple air vents (8), and the lower part of the guide plate (7) is connected with multiple turbulence fan blades (9).

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